Hi,
Our code for autonomous is not working properly. We programmed the robot to drive straight for 3 seconds and then stop. Instead of driving forward for 3 seconds and then stopping, the robot waits 10 seconds and drives forward for half a second, then waits another 10 seconds and then drives forward for half a second. We believe that it has to be something wrong with feeding the watchdog since we receive the watchdog not fed error on the dashboard.
4 Questions.
1. Could anyone take a look at the code below and tell us what our problem is with the autonomous code?
2. Also, if someone could take a look at our line sensor code to see if it will work or not, that would be great
3. I'm new to netbeans, how do you save as project (not .java file) on a usb drive or on a different location from where it was originally saved?
4. How can I debug the code using System.out.println? It never prints out anything. Are there other ways for debugging the code or knowing what values you get from sensors?
Code:
package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.AnalogTrigger;
import edu.wpi.first.wpilibj.DigitalInput;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the SimpleRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Team1660Robot extends SimpleRobot {
public Team1660Robot (){
getWatchdog().setExpiration(.5);
}
/**
* This function is called once each time the robot enters autonomous mode.
*/
AnalogTrigger Bumper = new AnalogTrigger (1);
Joystick rightjoystick = new Joystick(1);
Joystick leftjoystick = new Joystick(2);
RobotDrive robotdrive = new RobotDrive(1,2,3,4);
DigitalInput Mid;
DigitalInput Right;
DigitalInput Left;
Timer timer = new Timer();
double straight = 0;
double standardRobotSpeed = 0.5;
double stop = 0;
double velocity = 3;
public void Team1660Robot(){
Mid = new DigitalInput(2);
Right = new DigitalInput(1);
Left = new DigitalInput(3);
getWatchdog().setExpiration(.5);
getWatchdog().setEnabled(true);
}
public void autonomous() {
getWatchdog().setEnabled(true);
getWatchdog().feed();
// robotdrive.tankDrive(.5,.5);
//getWatchdog().setEnabled(false);
// getWatchdog().feed();
// robotdrive.tankDrive(.5,.5);
for(int i =0; i < 10; i=+1){
getWatchdog().feed();
robotdrive.drive(1,0);
Timer.delay(3);
getWatchdog().feed();
}
robotdrive.drive(0,0);
//giveADogABone(3);
// robotdrive.tankDrive(0,0);
//bumper();
// followTheLine();
}
public void followTheLine() {
Timer Clock = new Timer();
robotdrive.tankDrive(.5, .5);
Timer.delay(10);
robotdrive.drive(0, 0);
Clock.start();
Clock.reset();
//Clock.stop();
if(true)
{
robotdrive.drive(1, 0);
Timer.delay(5);
robotdrive.drive(0, 0);
}
//boolean End = true;
/*
for(int i=0;i<10000;++i) {
boolean MidValue = Mid.get() ? true: false;
boolean RightValue = Right.get() ? true: false;
boolean LeftValue = Left.get() ? true : false;
double Velocity;
double direction;
if (MidValue == true && LeftValue == false && RightValue== false) {
Velocity = 5;
direction = 0;
// Go Straight, tape is in center
} else if (MidValue == true && LeftValue == true && RightValue == false){
Velocity = .25;
direction = -0.5;
// Go left if tape is on slight Left//
} else if (MidValue == true && LeftValue == false && RightValue == true){
Velocity = .25;
direction = 0.5;
//Go right if tape is on slight Right//
} else if (MidValue == false && LeftValue == true && RightValue == false){
Velocity = .25;
direction = -0.7;
//Go Left if tape is on extreme Left//
} else if (MidValue == false && RightValue == true && LeftValue == false){
Velocity = .25;
direction = 0.7;
//Go Right if tape is on extreme Right//
} else {
Velocity = .25;
direction = -1;
}
robotdrive.drive(-Velocity,-direction);
if(Clock.get()>15)
break;
/* if (UseWhite) {
A = RedValue *2 + WhiteValue *4 + BlackValue;
} else if (UseBlack) {
A = RedValue *2 + BlackValue *3 + WhiteValue;
}
else if (UseRed){
A = RedValue * 2 + BlackValue + WhiteValue;
A=2;
Velocity =2* powerProfile[timeInFull];
turn = 0;
switch (A) {
case 2:
turn = 0;
break;
case 6:if(time > ClockStop) {
End = true;
Velocity = 0.0;
}
break;
default: if (A != B) {
System.out.println("Time: " + time + " Sensor,Case: " + A + " Velocity: " + Velocity + " turn: " + turn + " End: " + End);
}
break;
Velocity = robotdrive.getVelocity;
if (A != 0) { A = B;}
}
}
*
*/
//}
//robotdrive.drive(stop,straight);
}
public void giveADogABone(double timeToWait) {
double WatchdogDelay = 4.9;
while (timeToWait > 0){
getWatchdog().feed();
if (timeToWait < WatchdogDelay){
Timer.delay (timeToWait);
}
else {
Timer.delay (WatchdogDelay);
}
timeToWait = timeToWait - WatchdogDelay;
}
}
/**
* This function is called once each time the robot enters operator control.
*/
public void operatorControl() {
getWatchdog().setEnabled(true);
while(isEnabled() && isOperatorControl())
{
getWatchdog().feed();
robotdrive.tankDrive(leftjoystick, rightjoystick);
if( rightjoystick.getRawButton(8) == true) {
getVelocity();
}
}
}
public double distance_to_time (double distance){
double time = distance / velocity;
return (time);
}
public void getVelocity (){
robotdrive.drive(standardRobotSpeed,straight);
//5 is the seconds to test
Timer.delay(5);
robotdrive.drive(stop,straight);
}
public void bumper(){
int x = 1;
while (x == 1){
if(Bumper.getTriggerState() == false){
robotdrive.drive(standardRobotSpeed,straight);
}
else {
x = 2;
robotdrive.drive(stop,straight);
}
}
}
}